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wpr_simulation/worlds/robocup_home.world
zhangwanjie c76fd042a3 rebuild the worlds
2020-05-22 14:36:17 +08:00

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<sdf version='1.6'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.5 -1</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='RoboCup_Home'>
<pose frame=''>0.0595 -0.023998 0 0 -0 0</pose>
<link name='Wall_10'>
<collision name='Wall_10_Collision'>
<geometry>
<box>
<size>8.139 0.1 1</size>
</box>
</geometry>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_10_Visual'>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<geometry>
<box>
<size>8.139 0.1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>5.0505 0.004498 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_16'>
<collision name='Wall_16_Collision'>
<geometry>
<box>
<size>3.03123 0.1 1</size>
</box>
</geometry>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_16_Visual'>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<geometry>
<box>
<size>3.03123 0.1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-5.0505 -2.5495 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_18'>
<collision name='Wall_18_Collision'>
<geometry>
<box>
<size>4.05777 0.1 1</size>
</box>
</geometry>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_18_Visual'>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<geometry>
<box>
<size>4.05777 0.1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-5.0505 2.045 0 0 0 -1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_20'>
<collision name='Wall_20_Collision'>
<geometry>
<box>
<size>7.591 0.1 1</size>
</box>
</geometry>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_20_Visual'>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<geometry>
<box>
<size>7.591 0.1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-1.305 4.024 0 0 -0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_23'>
<collision name='Wall_23_Collision'>
<geometry>
<box>
<size>1.53 0.1 1</size>
</box>
</geometry>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_23_Visual'>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<geometry>
<box>
<size>1.53 0.1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>4.3355 4.024 0 0 -0 3.14159</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_25'>
<collision name='Wall_25_Collision'>
<geometry>
<box>
<size>4.103 0.1 1</size>
</box>
</geometry>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_25_Visual'>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<geometry>
<box>
<size>4.103 0.1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-2.991 0.456998 0 0 -0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_26'>
<collision name='Wall_26_Collision'>
<geometry>
<box>
<size>0.491228 0.1 1</size>
</box>
</geometry>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_26_Visual'>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<geometry>
<box>
<size>0.491228 0.1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-0.9895 0.652498 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_28'>
<collision name='Wall_28_Collision'>
<geometry>
<box>
<size>2.0553 0.1 1</size>
</box>
</geometry>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_28_Visual'>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<geometry>
<box>
<size>2.0553 0.1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-0.9895 2.9875 0 0 0 -1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_30'>
<collision name='Wall_30_Collision'>
<geometry>
<box>
<size>4.129 0.1 1</size>
</box>
</geometry>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_30_Visual'>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<geometry>
<box>
<size>4.129 0.1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>2.975 -0.456001 0 0 -0 3.14159</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_31'>
<collision name='Wall_31_Collision'>
<geometry>
<box>
<size>0.49 0.1 1</size>
</box>
</geometry>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_31_Visual'>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<geometry>
<box>
<size>0.49 0.1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>0.9605 -0.651002 0 0 0 -1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_33'>
<collision name='Wall_33_Collision'>
<geometry>
<box>
<size>2.138 0.1 1</size>
</box>
</geometry>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_33_Visual'>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<geometry>
<box>
<size>2.138 0.1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>0.9605 -3.005 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_6'>
<collision name='Wall_6_Collision'>
<geometry>
<box>
<size>10.2 0.1 1</size>
</box>
</geometry>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_6_Visual'>
<pose frame=''>0 0 0.5 0 -0 0</pose>
<geometry>
<box>
<size>10.2 0.1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>0 -4.015 0 0 -0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<static>1</static>
</model>
<state world_name='default'>
<sim_time>266 728000000</sim_time>
<real_time>82 367351029</real_time>
<wall_time>1588503853 813333518</wall_time>
<iterations>82168</iterations>
<model name='RoboCup_Home'>
<pose frame=''>0.0595 -0.023998 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='Wall_10'>
<pose frame=''>5.11 -0.0195 0 0 -0 1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_16'>
<pose frame=''>-4.991 -2.5735 0 0 -0 1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_18'>
<pose frame=''>-4.991 2.021 0 0 0 -1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_20'>
<pose frame=''>-1.2455 4 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_23'>
<pose frame=''>4.395 4 0 0 -0 3.14159</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_25'>
<pose frame=''>-2.9315 0.433 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_26'>
<pose frame=''>-0.93 0.6285 0 0 -0 1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_28'>
<pose frame=''>-0.93 2.9635 0 0 0 -1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_30'>
<pose frame=''>3.0345 -0.479999 0 0 -0 3.14159</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_31'>
<pose frame=''>1.02 -0.675 0 0 0 -1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_33'>
<pose frame=''>1.02 -3.029 0 0 -0 1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_6'>
<pose frame=''>0.0595 -4.039 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>6.60813 7.35916 8.89399 0 0.789797 -2.25899</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>
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